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Subjugator gui #223

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Subjugator gui #223

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a11ff5a
builds rosbridge_suite from source
Aug 31, 2025
9df051b
adds rosbridge launch file to sub bringup
Aug 31, 2025
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1 change: 1 addition & 0 deletions src/mil_common/rosbridge_suite
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Submodule rosbridge_suite added at 935ce7
13 changes: 13 additions & 0 deletions src/subjugator/subjugator_bringup/launch/subjugator_setup.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_xml.launch_description_sources import XMLLaunchDescriptionSource


def generate_launch_description():
Expand All @@ -24,6 +25,7 @@ def generate_launch_description():
pkg_thruster_manager = get_package_share_directory("subjugator_thruster_manager")
pkg_localization = get_package_share_directory("subjugator_localization")
pkg_controller = get_package_share_directory("subjugator_controller")
pkg_rosbridge_server = get_package_share_directory("rosbridge_server")

# Load the URDF file from "description" package
xacro_file = os.path.join(pkg_project_description, "urdf", "sub9.urdf.xacro")
Expand Down Expand Up @@ -117,6 +119,16 @@ def generate_launch_description():
output="both",
)

rosbridge_websocket = IncludeLaunchDescription(
XMLLaunchDescriptionSource(
os.path.join(
pkg_rosbridge_server,
"launch",
"rosbridge_websocket_launch.xml",
),
),
)

return LaunchDescription(
[
gui_cmd,
Expand All @@ -128,5 +140,6 @@ def generate_launch_description():
controller,
path_planner,
trajectory_planner,
rosbridge_websocket,
],
)
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